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| 基于变增益LQR的三维吊车防摆控制 | |
| 引用本文： | 张永立,苗志宏,姚青梅,刘丽英. 基于变增益LQR的三维吊车防摆控制[J]. 河北科技大学学报, 2014, 35(6): 583-589 |
| 作者姓名： | 张永立 苗志宏 姚青梅 刘丽英 |
| 作者单位： | 1. 天津职业技术师范大学自动化学院,天津 300222;天津市信息传感与智能控制重点实验室,天津300222 2. 中国人民武装警察部队学院,河北廊坊,065000 |
| 基金项目： | 国家自然科学基金，天津市高等学校科技发展基金，天津职业技术师范大学科研启动基金 |
| 摘 要： | 建立了三维吊车系统的数学模型,采用分离变量法建立了三维吊车的时变线性模型,并讨论了系统的可控性。针对变绳长吊车系统的防摆问题,设计了变增益LQR控制器,有效地实现了三维吊车的防摆控制。对比仿真实验结果证明变增益LQR控制方法具有较强的自适应性和稳定性,显著提高了控制性能。 |
| 关 键 词： | 三维吊车 建模 变增益LQR 仿真 |
| 收稿时间： | 2014-09-03 |
| 修稿时间： | 2014-09-19 |
Anti-swing control for 3D crane based on variable gain LQR method |
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| ZHANG Yongli,MIAO Zhihong,YAO Qingmei,LIU Liying. Anti-swing control for 3D crane based on variable gain LQR method[J]. Journal of Hebei University of Science and Technology, 2014, 35(6): 583-589 | |
| Authors: | ZHANG Yongli MIAO Zhihong YAO Qingmei LIU Liying |
| Abstract: | The dynamic model of three dimension (3D) crane system is built. Then the linear time-varying system is obtained by using the method of separating variables, and the controllability is discussed. As to the anti-swing control problem for the 3D crane under the condition of variable length of the rope, the variable gain LQR controller is designed, and the good control performance is obtained. The comparative simulation results demonstrate that the variable gain LQR controller has higher adaptability and stability, and the effectiveness is improved obviously. |
| Keywords: | 3D crane modeling variable gain LQR simulation |
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